Fix bug with topic statistics for intra process comms #2913
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romanwu10
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thanks for creating PR. a couple of comments.
- did you try to build with your local environment, it seems build is failing. see https://build.ros2.org/job/Rpr__rclcpp__ubuntu_noble_amd64/718/console
- test would be idea to make sure the statistics works okay. could you also add the test case with intra-process communication for
test_subscription_topic_statistics.cpp?
| if (subscription_topic_statistics_) { | ||
| now = std::chrono::system_clock::now(); | ||
| auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now); | ||
| msg_info.source_timestamp = nanos.time_since_epoch().count(); |
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as we know, we do not have message info from rmw implementation with intra-process communication.
if we do this, the message age statistics will be always 0 because msg_info.source_timestamp is equal to time.
i understand we can generate the statistics with this change, but is this really useful for user application? i am not even sure about this. instead of generating fake statistics, maybe warning once that tells intra-process communication does not provide age statistics would be better for the user application? or maybe it is always age is zero?
| if (subscription_topic_statistics_) { | ||
| const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now); | ||
| const auto time = rclcpp::Time(nanos.time_since_epoch().count()); | ||
| subscription_topic_statistics_->handle_message(msg_info, time); |
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at least for period statistics, this can enables it to calculate intra and inter-process communication messages all together. i think that is the right thing to do.
Signed-off-by: Roman Wu <[email protected]>
Signed-off-by: Roman Wu <[email protected]>
Signed-off-by: Roman Wu <[email protected]>
romanwu10
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Hi @romanwu10 You stated in your description that you did not use Generative AI for this PR:
However, it seems extremely similar to this PR I noticed on your private repo that explicitly states that it was generated through ChatGPT. |
Description
Fixes #2911
Is this user-facing behavior change?
Yes, this patch updates
SubscriptionIntraProcessto pass along the topic statistics pointer and call the statistics handler during intra-process message deliveries. This ensures that topic statistics—such as message age and publishing period—are still computed whenuse_intra_process_commsis enabled, which is important for users monitoring performance metrics.Did you use Generative AI?
No.
Additional Information
n/a